JP5380184B2 - Compound eye camera and control method thereof - Google Patents

Description

  The present invention relates to a compound-eye camera that acquires a plurality of images in which binocular parallax occurs using a plurality of imaging optical systems, and a control method thereof.

  A compound-eye camera that generates a stereoscopic image that can be stereoscopically viewed by acquiring a plurality of images with binocular parallax using a plurality of imaging optical systems and combining the images is known. In such a compound-eye camera, camera shake at the time of shooting becomes a cause of a parallax shift of a stereoscopic image. For this reason, in Patent Document 1, a motion amount of a plurality of images acquired by each imaging optical system is calculated, and each image is trimmed according to the motion amount, thereby causing a parallax shift in a stereoscopic image due to camera shake. Is preventing.

  However, in the method of trimming each image as in Patent Document 1, pixels that are always cut off are generated, and a stereoscopic image using all the pixels of the image sensor cannot be generated. Since the trimming size changes, there is a problem in that the size of the stereoscopic image changes unintentionally.

  As a solution to such a problem, a mechanism (see Patent Documents 2 and 3) that performs optical camera shake correction that physically adjusts the optical axis by moving a correction unit such as an image sensor or a dedicated lens is provided. It can be considered to be provided in the imaging optical system. In this way, it is possible to prevent a parallax shift due to camera shake, and it is not necessary to trim an image acquired by each imaging optical system. Therefore, it is possible to generate a stereoscopic image using all pixels, and Size does not change unintentionally.

JP 2003-092768 A Japanese Patent Laid-Open No. 11-183951 JP 2002-359768 A

  In optical camera shake correction, the correction unit is placed at a predetermined position such as the optical center of the imaging optical system when the correction unit reaches the correction limit region, is determined to be in a pan / tilt state, and is turned on. It is necessary to return. When optical camera shake correction is used for a compound-eye camera, the distance to the predetermined position of the correction unit provided in each imaging optical system is not always constant, and the timing for returning to the predetermined position of each correction unit is the same. There may not be. As described above, when each correction unit returns to a predetermined position, the baseline length is distorted, and accordingly, a parallax shift occurs in the stereoscopic image. Such a parallax shift is different from a parallax shift generated due to a photographer's operation such as camera shake, which may cause a sense of incongruity when observing a stereoscopic image.

  The present invention has been made in view of the above problems, and prevents parallax shift due to variations in the return timing of each correction unit to a predetermined position even when optical camera shake correction is used for a compound eye camera. With the goal.

In order to achieve the above object, in the compound eye camera of the present invention , when each correction unit is returned to a predetermined position, movement is started simultaneously from the position of each correction unit based on the detection result of each position detection means. For each correction unit, a target trajectory in which the position, speed, and acceleration are continuous to complete the movement to a predetermined position at the same time is calculated for each correction unit. Ru der that a control means for controlling each drive unit in so that allowed the correction unit is moved, respectively.

Based on the detection results of the position detecting means comprises a compensation limit determining means you determined respectively for each correction unit whether the correction unit reaches the limit of the correction range of movement, control means, each when one of the compensation unit determines that the compensation limit determination means has reached the limit, it is preferable to return to the position where each correction unit.

Compensation limit determination means, the correction movement range has shown to area data, on the basis of the detection result of the position置検detecting means and realm data, whether the position of the correction portion or inside of the correction movement range Correction unit by to check whether it is preferable to determine whether reaches the limit.

Control means, when the power is turned ON, the preferred configuration for returning into position at each correction unit.

Includes a pan-tilt determining means for determining whether panning or tilting on the basis of the detection result are performed in the camera-shake detecting means, control means, pan-when panning or tilting is being performed when tilt determination means determines, preferably also configured to return to the position where each correction unit. At this time, the pan / tilt determination means performs panning or tilting when a movement with a magnitude greater than a specified value continuously occurs in a certain direction for a certain time or more based on the detection result of each camera shake detection means. It is preferable to determine that it is broken.

The predetermined position is preferably the optical center of the imaging optical system.

In the control method for a compound eye camera of the present invention, when each correction unit is returned to a predetermined position, the movement is started simultaneously from the position of each correction unit based on the detection result of each position detection unit. Calculate the target trajectory with continuous position, speed, and acceleration for each correction unit to complete the movement to the position at the same time, and simultaneously start the movement of each correction unit by the driving means, and according to the calculated target trajectory It has a return control step for moving each correction unit.

Based on the detection result of each position detection means, there is a correction limit determination step for determining for each correction unit whether or not the correction unit has reached the limit of the correction moving range, and any one of the correction units is the limit It is preferable to execute the return control step when it is determined in the correction limit determination step that the value has been reached .

The correction limit determination step includes region data indicating the correction movement range, and confirms whether the position of the correction unit is inside the correction movement range based on the detection result of the position detection unit and the region data. It is preferable to determine whether or not the correction unit has reached the limit.

Also, when the power is turned ON, it may be executed to return control step. Furthermore , it has a step of determining whether panning or tilting is performed based on the detection result of each camera shake detection means, and when it is determined that panning or tilting is performed, return control is performed. A step may be executed . In the pan / tilt determination step, panning or tilting is performed when a motion with a magnitude greater than a specified value continuously occurs in a certain direction for a certain period of time or longer based on the detection result of each camera shake detection means. It is preferable to determine. The predetermined position is preferably the optical center of the imaging optical system.

  In the present invention, when each correction unit is moved to a predetermined position, each driving unit is controlled so that the movement of each correction unit to the predetermined position is completed at the same time. It is possible to prevent a parallax shift caused by variations in the return timing to the predetermined position.

It is a perspective view which shows the external appearance structure of a stereo camera. It is a rear view which shows the external appearance structure of a stereo camera. It is a block diagram which shows roughly the internal structure of a stereo camera. It is explanatory drawing which shows the correction limit area | region of each imaging part. It is explanatory drawing which shows the case where 1st CCD reaches | attains the correction limit area | region previously. It is explanatory drawing which shows an example of the control data interpolated from the target position orbit. It is a flowchart which shows operation | movement of a stereo camera. It is a flowchart in the case of returning each CCD to the optical center when the power is turned on. It is a block diagram in the case of determining pan / tilt. It is a flowchart in the case of returning each CCD to the optical center when pan / tilt is determined. It is explanatory drawing which shows an example of the control data of a straight line. It is explanatory drawing which shows an example of the control data in the case of delaying one side.

  As shown in FIG. 1, the stereo camera (compound camera) 2 includes a camera body 2a formed in a substantially rectangular shape. The camera body 2a is provided with first and second imaging units (imaging optical systems) 3 and 4. Each of the imaging units 3 and 4 is arranged side by side so that a part of the imaging unit 3 and 4 is exposed from the front surface of the camera body 2a and the optical axes thereof are substantially parallel. The stereo camera 2 acquires a pair of images in which binocular parallax occurs by performing shooting with each of the imaging units 3 and 4. Then, by synthesizing the acquired images, a stereoscopically viewable image (hereinafter referred to as a stereoscopic image) is generated.

  The first imaging unit 3 has a first lens barrel 6 in which a first imaging lens 5 is incorporated. Similarly, the second imaging unit 4 has a second lens barrel 8 in which a second imaging lens 7 is incorporated. Each of the lens barrels 6 and 8 is retracted to the storage position stored in the camera body 2a as indicated by a two-dot chain line in the figure when the power is turned off and the acquired image is reproduced, and is indicated by a solid line in the figure when photographing. Thus, the camera body 2a is extended to the photographing position protruding to the front side. A flash light emitting unit 10 for illuminating the subject by irradiating the subject with flash light is provided on the front surface of the camera body 2a.

  On the upper surface of the camera body 2a, a shutter button 11 for instructing execution of photographing, a power switch 12 for switching on / off the power, and modes for switching various modes provided in the stereo camera 2 A switching dial 13 is provided. The stereo camera 2 has a still image shooting mode for acquiring a stereoscopic image of a still image, a moving image shooting mode for acquiring a stereoscopic image of a moving image, and a playback mode for reproducing and displaying the acquired stereoscopic image. doing. Each of these modes can be switched by rotating the mode switching dial 13. In the still image shooting mode, the execution of shooting is instructed by pressing the shutter button 11, and the subject image at that time is acquired as a stereoscopic image of the still image. In the moving image shooting mode, recording is started by depressing the shutter button 11 and recording is stopped by depressing the shutter button 11 again in this state, and the subject image is acquired as a stereoscopic image of the moving image. Is done.

  As shown in FIG. 2, on the back surface of the camera body 2a, a zoom button 14 for performing a zoom operation for changing the magnification of the imaging lenses 5 and 7 to the wide side or the tele side, and the acquired stereoscopic image or standby for shooting. A so-called through image and a liquid crystal display 15 for displaying various menu screens, a menu button 16 for instructing display of the menu screen, and a cross key 17 for selecting and setting various menus on the menu screen. And are provided.

  The liquid crystal display 15 is a so-called three-dimensional display in which a lenticular lens is provided on the surface. Thereby, in the stereo camera 2, the stereoscopic image displayed on the liquid crystal display 15 can be stereoscopically viewed with the naked eye.

  As shown in FIG. 3, the first imaging unit 3 includes a first lens barrel 6, a first feeding motor 31, a first focus motor 32, a first motor driver 33, a first CCD (correction unit) 35, and a first timing. A generator (hereinafter referred to as TG) 36, a first CDS 37, a first AMP 38, a first A / D converter 39, and a first camera shake correction unit 40 are configured.

  In the first lens barrel 6, a zoom lens 5a, a focus lens 5b, and a diaphragm 5c are incorporated as the first imaging lens 5. The first lens barrel 6 is extended to the photographing position and retracted to the storage position by driving the first extension motor 31. The zoom lens 5 a and the focus lens 5 b are moved back and forth in the optical axis direction by driving the first focus motor 32. Each motor 31, 32 is connected to a first motor driver 33. The first motor driver 33 is connected to a CPU (control means) 70 that comprehensively controls the stereo camera 2, and drives the motors 31 and 32 in accordance with a control signal from the CPU 70.

  A first CCD 35 is disposed behind the first imaging lens 5. The first imaging lens 5 forms a subject image on the light receiving surface of the first CCD 35. The first CCD 35 is connected to the first TG 36. The first TG 36 is connected to the CPU 70 and inputs a timing signal (clock pulse) to the first CCD 35 under the control of the CPU 70. The first CCD 35 captures the subject image formed on the light receiving surface in accordance with the timing signal, and outputs an imaging signal corresponding to the subject image.

  The imaging signal output from the first CCD 35 is input to the first CDS 37 which is a correlated double sampling circuit. The first CDS 37 outputs the input imaging signal as R, G, and B image data that accurately corresponds to the accumulated charge amount of each cell of the first CCD 35. The image data output from the first CDS 37 is amplified by the first AMP 38 and further converted into digital data by the first A / D converter 39. The digitized image data is output from the first A / D converter 39 to the image input controller 71 as right eye image data.

  The first camera shake correction unit 40 is for preventing a parallax shift from occurring in a stereoscopic image due to a camera shake at the time of shooting. A sensor shift type camera shake prevention function is realized. The realization method may be a camera-shake prevention function of a lens shift method. The first camera shake correction unit 40 includes a camera shake detection sensor 41, a position detection sensor 42, and a drive circuit 43. The camera shake detection sensor 41 is a gyro sensor, for example, and detects the vertical and horizontal shaking of the first CCD 35 and outputs the detection result to the CPU 70. The position detection sensor 42 is, for example, a linear encoder or a potentiometer, detects the vertical and horizontal positions of the first CCD 35, and outputs the detection result to the CPU 70.

  The drive circuit 43 includes a vertical actuator that moves the first CCD 35 in the vertical direction and a horizontal actuator that moves the first CCD 35 in the horizontal direction, and drives each actuator according to a drive signal from the CPU 70. The first CCD 35 is moved in the vertical and horizontal directions. Based on the detection results of the sensors 41 and 42, the CPU 70 generates a drive signal for moving the first CCD 35 in the direction to cancel the shaking, and inputs the drive signal to the drive circuit 43. Thereby, the parallax shift of the three-dimensional image accompanying a camera shake is suppressed.

  Similar to the first imaging unit 3, the second imaging unit 4 includes a second lens barrel 8, a second feeding motor 51, a second focus motor 52, a second motor driver 53, a second CCD (correction unit) 55, a second CCD. 2TG56, 2nd CDS57, 2nd AMP58, 2nd A / D converter 59, and the 2nd camera-shake correction part 60 are comprised. Since these units are the same as those of the first imaging unit 3, detailed description thereof is omitted. The image is picked up by the second CCD 55, passes through the second CDS 57 and the second AMP 58, and then converted into digital data by the second A / D converter 59. The image data is converted from the second A / D converter 59 to the left eye image data as the image input controller 71. Is output.

  The image input controller 71 is connected to the CPU 70 via the data bus 72. The image input controller 71 stores each image data input from each imaging unit 3, 4 in the SDRAM 73 under the control of the CPU 70. The image signal processing circuit 74 reads each image data from the SDRAM 73 and performs various image processing such as gradation conversion, white balance correction, and γ correction on each image data. Then, each processed image data is stored in the SDRAM 73 again.

  The stereoscopic image generation circuit 75 reads out each image data that has been subjected to various processes by the image signal processing circuit 74 from the SDRAM 73. Then, after dividing each image data into strip-like images that are long in the vertical direction, they are alternately arranged and combined to generate lenticular lens type stereoscopic image data corresponding to the liquid crystal display 15, The stereoscopic image data is stored in the SDRAM 73.

  The liquid crystal driver 76 reads stereoscopic image data from the SDRAM 73, converts it into an analog composite signal, and outputs it to the liquid crystal display 15. As a result, a stereoscopic image that can be stereoscopically viewed with the naked eye is displayed on the liquid crystal display 15 as a through image.

  The compression / decompression processing circuit 77 compresses the stereoscopic image data in a predetermined compression format such as TIFF or JPEG. The media controller 78 accesses the recording medium 80 that is detachably attached to the media slot, and reads / writes compressed stereoscopic image data to / from the recording medium 80.

  The CPU 70 is connected to the shutter button 11, the power switch 12, the mode switching dial 13, the zoom button 14, the menu button 16, and the cross key 17. Each of these operation members detects an operation by the user and inputs the detection result to the CPU 70. The shutter button 11 is a two-stage push switch. When the shutter button 11 is lightly pressed (half-pressed), various shooting preparation processes such as focus adjustment and exposure adjustment of the imaging lenses 5 and 7 are performed. In this state, when the shutter button 11 is strongly pressed once again (fully pressed), the imaging signals for one screen of the imaging units 3 and 4 are converted into image data. The power switch 12 is a slide type switch (see FIG. 1). When the power switch 12 is moved to the ON position, battery power (not shown) is supplied to each unit, and the stereo camera 2 is activated. When the power switch 12 is moved to the OFF position, the power supply is stopped and the stereo camera 2 is stopped.

  When the operation of the power switch 12 and the mode switching dial 13 is detected, the CPU 70 drives the feeding motors 31 and 51 according to these operations to retract / extend the lens barrels 6 and 8. Further, when the operation of the zoom button 14 is detected, the CPU 70 drives the focus motors 32 and 52 according to the detected operation, and moves the zoom lenses 5a and 7a back and forth in the optical axis direction to change the zoom magnification. .

  The CPU 70 has a correction limit determination unit for determining whether or not each of the CCDs 35 and 55 has reached a camera shake correction limit region when the drive circuits 43 and 63 are driven and the CCDs 35 and 55 are moved. 82 and a control data calculation unit 84 for calculating control data when the CCDs 35 and 55 are returned to the optical center. The correction limit determination unit 82 stores first limit region data 82a indicating the correction limit region of the first camera shake correction unit 40 and second limit region data 82b indicating the correction limit region of the second camera shake correction unit 60. ing.

  4 shows the light receiving surface of the first CCD 35 as 35a, the movable range of the first CCD 35 by the drive circuit 43 as 90R, the image circle of the subject image formed by the first imaging lens 5 as 91R, and the first camera shake correction unit 40. The correction limit area is 92R, the light receiving surface of the second CCD 55 is 55a, the movable range of the second CCD 55 by the drive circuit 63 is 90L, the image circle of the subject image formed by the second imaging lens 7 is 91L, and the second camera shake correction unit 60 correction limit regions are shown as 92L.

  As can be seen from FIG. 4, the correction limit regions 92R and 92L are formed on the light receiving surfaces 35a and 55a of the CCDs 35 and 55 even when the drive circuits 43 and 63 are driven and the CCDs 35 and 55 are moved. This is a substantially rectangular area where vignetting of the subject image does not occur. The first limit area data 82a is coordinate data indicating the correction limit area 92R, and the second limit area data 82b is coordinate data indicating the correction limit area 92L.

  For example, each limit area data 82a and 82b is shot while moving the CCDs 35 and 55 to the four corners of the movable ranges 90R and 90L by driving the drive circuits 43 and 63, and the boundary where vignetting occurs from the image. It can be obtained by calculating and estimating the respective correction limit areas 92R and 92L. The limit area data 82a and 82b may be calculated based on the design values of the imaging units 3 and 4. However, as shown in FIG. 4, the correction limit areas 92R and 92L include the respective imaging units. Variations in shape and position occur due to assembly errors and dimensional errors of the parts 3 and 4. Therefore, by obtaining from the image as described above, it is possible to obtain each of the limit area data 82a and 82b with higher accuracy.

  When the CPU 70 generates drive signals for the drive circuits 43 and 63 based on the detection results of the camera shake detection sensors 41 and 61 and the position detection sensors 42 and 62, the detection results of the position detection sensors 42 and 62. Is input to the correction limit determination unit 82. When the detection results of the position detection sensors 42 and 62 are input to the correction limit determination unit 82, the position of the first CCD 35 is determined based on the detection result of the position detection sensor 42 and the first limit area data 82a. It is determined whether the first CCD 35 has reached the correction limit area 92R by checking whether it is inside the 92R, and the second CCD 55 is based on the detection result of the position detection sensor 62 and the second limit area data 82b. It is determined whether or not the second CCD 55 has reached the correction limit area 92L by confirming whether or not the position is inside the correction limit area 92L, and these determination results are output.

  When each of the CCDs 35 and 55 is moved, only one of the CCDs 35 and 55 is corrected first because of variations in the correction limit regions 92R and 92L and differences in detection amounts of the camera shake detection sensors 41 and 61. It may reach 92L. In this case, if the other side is further moved while the movement of the side that has arrived first is stopped, a parallax shift occurs in the stereoscopic image. Therefore, when the correction limit determination unit 82 determines that one of the CCDs 35 and 55 has reached the correction limit regions 92R and 92L, the CPU 70 determines that the CCDs 35 and 55 are returned to the optical center. When the CPU 70 determines that the CCDs 35 and 55 are to be returned to the optical center, the detection results of the position detection sensors 42 and 62 are input to the control data calculation unit 84 and the control data calculation unit 84 calculates the control data. Instruct.

  The control data calculation unit 84 stores first optical center position data 84a indicating the optical center position of the first imaging lens 5, and second optical center position data 84b indicating the optical center position of the second imaging lens 7. ing. The first optical center position data 84a is obtained by calculating the center position of the correction limit area 92R based on the first limit area data 82a. The second optical center position data 84b is obtained in the same procedure.

  When the control data calculation unit 84 is instructed to calculate the control data, the light receiving surface 35a of the first CCD 35 is based on the detection result of the position detection sensor 42 and the first optical center position data 84a as shown in FIG. A vertical distance D1v and a horizontal distance D1h indicating the amount of movement from the center to the optical center of the first imaging lens 5 are calculated. Similarly, the vertical distance indicating the amount of movement from the center of the light receiving surface 55a of the second CCD 55 to the optical center of the second imaging lens 7 based on the detection result of the position detection sensor 62 and the second optical center position data 84b. D2v and horizontal distance D2h are calculated.

  Here, for example, when the camera body 2a is inclined obliquely and the correction amount of the first CCD 35 is larger than the correction amount of the second CCD 55, and the first CCD 35 reaches the correction limit region 92R first, it is shown in FIG. Thus, D1v and D1h are longer than D2v and D2h. In this way, when there is a difference between the values of the distances, if the CCDs 35 and 55 are moved toward the optical center at the same speed, the shorter distance side first returns to the optical center. The timing to return to the optical center of 55 is not suitable. Such variations in the return timings of the CCDs 35 and 55 cause a parallax shift in the stereoscopic image.

  Therefore, the control data calculation unit 84 controls the vertical control data of the first CCD 35 so that the first CCD 35 moves D1v [mm] after t1 [s] as shown in the graphs (a) and (b) of FIG. And the control data in the vertical direction of the second CCD 55 is calculated so that the second CCD 55 moves D2v [mm] after the same t1 [s]. Similarly, as shown in graphs (c) and (d) of FIG. 6, the control data calculation unit 84 controls the horizontal control data of the first CCD 35 so that the first CCD 35 moves D1h [mm] after t2 [s]. And the horizontal control data of the second CCD 55 is calculated so that the second CCD 55 moves D2h [mm] after the same t2 [s]. As described above, the control data calculation unit 84 calculates the control data so that the movement of the CCDs 35 and 55 to the optical center is completed at the same time.

  The time t1 is calculated as t1 = D / Vave, where D is the longer distance of D1v and D2v, and Vave is the average moving speed according to the performance of the drive circuits 43 and 63, for example. To do. That is, t1 may be calculated as an average moving time on the longer distance side. Similarly, the time t2 may be calculated as an average moving time on the longer side of D1h and D2h. In addition, even when D1v, D2v, D1h, and D2h are maximum, that is, when the CCDs 35 and 55 are at the four corners of the correction limit regions 92R and 92L, the range that can return to the optical center according to the driving of the driving circuits 43 and 63 Each time t1, t2 may be determined in advance as a predetermined value.

  The control data calculated by the control data calculation unit 84 is time-series data indicating the movement amounts of the CCDs 35 and 55 after a predetermined time has elapsed. Then, as shown in graphs (a) to (d) of FIG. 6, the control data calculation unit 84 has a position from the start of movement to the end of movement when the horizontal axis is time and the vertical axis is the movement amount. -A target trajectory with continuous speed and acceleration is generated and interpolated to obtain control data as time series data. Examples of such control data include a cubic function curve in which the amount of movement immediately after the start of movement and immediately before the completion of movement is reduced as shown in the figure. By doing so, each of the CCDs 35 and 55 moves smoothly, so that it is possible to prevent abnormal noise from being generated as the CCDs 35 and 55 move. Note that such control data calculation methods include, for example, time series interpolated from target position trajectories that can be differentiated to position, velocity, and acceleration, such as cubic splines, Bezier curves, minimum jerk trajectories, and sixth-order function approximation. Any method that can generate data may be used.

  When the control data calculation unit 84 calculates each control data, the control data calculation unit 84 outputs each control data to the CPU 70. When receiving each control data, the CPU 70 generates a drive signal for each drive circuit 43, 63 based on each control data, and inputs the drive signal to each drive circuit 43, 63. As a result, the CCDs 35 and 55 move along the trajectory corresponding to the control data, and the movement of the CCDs 35 and 55 to the optical center is completed simultaneously.

  Next, the operation of the stereo camera 2 configured as described above will be described with reference to the flowchart shown in FIG. When the stereo camera 2 is activated by turning the power switch 12 to the ON position and shooting is started in the still image shooting mode or the moving image shooting mode, a stereoscopic image is displayed on the liquid crystal display 15 as a through image. In the still image shooting mode and the moving image shooting mode, the detection results of the camera shake detection sensors 41 and 61 and the detection results of the position detection sensors 42 and 62 are input to the CPU 70. Based on the detection results of the sensors 41, 42, 61, 62, the CPU 70 generates a drive signal for moving the CCDs 35, 55 in the direction to cancel the shaking, and inputs the drive signal to the drive circuits 43, 63. In this way, the parallax shift of the stereoscopic image due to camera shake is prevented.

  At this time, the CPU 70 inputs the detection results of the position detection sensors 42 and 62 to the correction limit determination unit 82. When the detection results of the position detection sensors 42 and 62 are input, the correction limit determination unit 82 determines whether or not the first CCD 35 has reached the correction limit region 92R, and the second CCD 55 has reached the correction limit region 92L. It is determined whether or not, and these determination results are output.

  When the correction limit determination unit 82 determines that one of the CCDs 35 and 55 has reached the correction limit regions 92R and 92L, the CPU 70 determines that the CCDs 35 and 55 are returned to the optical center, and the position detection sensors 42 and 62 are detected. Is input to the control data calculation unit 84 to instruct the control data calculation unit 84 to calculate control data.

  When the control data calculation unit 84 is instructed to calculate the control data, the control data calculation unit 84 calculates the vertical and horizontal control data of the CCDs 35 and 55 so that the movement of the CCDs 35 and 55 to the optical center is completed at the same time. . When the control data calculation unit 84 calculates the control data, the CPU 70 generates drive signals for the drive circuits 43 and 63 based on the control data, and inputs the drive signals to the drive circuits 43 and 63. To do.

  As a result, the CCDs 35 and 55 are moved along the trajectory corresponding to the control data, and the movement of the CCDs 35 and 55 to the optical center is completed at the same time. Thus, the parallax shift of the stereoscopic image is prevented. In addition, since each control data is calculated so that the position, velocity, and acceleration from the start of movement to the completion of movement are continuous, no abnormal noise is generated as the CCDs 35 and 55 move.

  When the CPU 70 returns the CCDs 35 and 55 to the optical center, the CPU 70 starts processing for preventing camera shake again, and repeats the above processing until the power is turned off or the reproduction mode is entered.

  Next, a second embodiment of the present invention will be described with reference to the flowchart shown in FIG. When the stereo camera 2 is activated with the power switch 12 in the ON position, the CPU 70 acquires the detection results of the position detection sensors 42 and 62. Thereafter, the CPU 70 inputs the obtained detection results of the position detection sensors 42 and 62 to the control data calculation unit 84 and instructs the control data calculation unit 84 to calculate control data. Thereafter, the CCDs 35 and 55 are returned to the optical center in the same procedure as in the first embodiment.

  When the stereo camera 2 is in a stopped state in which the power switch 12 is set to the OFF position, the positions of the CCDs 35 and 55 may move due to vibration or the like. For this reason, when the stereo camera 2 is activated with the power switch 12 in the ON position, it is necessary to perform processing for returning the CCDs 35 and 55 to the optical center. At this time, as described above, if the movement of the CCDs 35 and 55 to the optical center is completed at the same time, a stereoscopic image with parallax is displayed on the liquid crystal display 15 as a through image immediately after the power is turned on. Can be prevented.

  Next, a third embodiment of the present invention will be described with reference to the block diagram of FIG. 9 and the flowchart of FIG. As shown in FIG. 9, the CPU 70 of the present embodiment is provided with a pan / tilt determination unit 86 for determining whether panning or tilting is being performed. When the CPU 70 generates drive signals for the drive circuits 43 and 63 based on the detection results of the camera shake detection sensors 41 and 61 and the position detection sensors 42 and 62, the detection results of the camera shake detection sensors 41 and 61. Is input to the pan / tilt determination unit 86.

  Based on the detection results of the camera shake detection sensors 41 and 61, the pan / tilt determination unit 86 generates a motion having a magnitude greater than a specified value continuously in a certain direction for a certain period of time, and corrects it different from normal camera shake. When it is determined that a large motion that cannot be performed has occurred, it is determined that panning or tilting is being performed.

  As shown in the flowchart of FIG. 10, when the pan / tilt determination unit 86 determines that panning or tilting is being performed, the CPU 70 determines that the CCDs 35 and 55 are to be returned to the optical center, and each position is determined. The detection results of the detection sensors 42 and 62 are input to the control data calculation unit 84 to instruct the control data calculation unit 84 to calculate control data. Then, the CCDs 35 and 55 are returned to the optical center in the same procedure as in the first embodiment.

  In this way, it is possible to prevent the movement of the stereoscopic image due to panning or tilting from being erroneously corrected, and when the CCDs 35 and 55 are returned to the optical center in response to this, a parallax shift is added to the stereoscopic image. Can be prevented.

  In each of the above embodiments, the optical center of each of the imaging units 3 and 4 is shown as a predetermined position. However, the predetermined position is not limited to this, and may be an arbitrary position in each of the correction limit regions 92R and 92L.

  In each of the above embodiments, each control data is calculated so as to be a cubic function curve in which the movement amount immediately after the start of the return and immediately before the completion of the return is reduced. However, the present invention is not limited to this, as shown in FIG. A straight line may be used. Furthermore, as shown in FIG. 12, the start of return on the short side may be delayed until the long side to the optical center of each CCD 35, 55 is the same as the short side distance. In this way, the CCDs 35 and 55 can be moved at the same speed, so that the control can be simplified.

  In each of the embodiments described above, the liquid crystal display 15 is a three-dimensional display having a lenticular lens provided on the surface, and lenticular lens type stereoscopic image data is generated. However, the present invention is not limited to this, and the liquid crystal display 15 is provided on the surface. A three-dimensional display provided with a parallax barrier may be used to generate parallax barrier stereoscopic image data. Furthermore, stereoscopic image data of a polarization display system that is observed using polarization filter glasses may be used.

  In each of the above-described embodiments, an example in which the present invention is applied to image sensor shift type camera shake correction using the CCDs 35 and 55 as correction units has been described. However, the present invention is not limited to this, and lens shift using a dedicated lens as a correction unit. The present invention may be applied to camera shake correction of a method. In each of the above embodiments, an example in which the present invention is applied to the stereo camera 2 including the first and second imaging units 3 and 4 has been described. The present invention may be applied to a camera having two or more imaging units.

2 Stereo camera (compound camera)
3 First imaging unit (imaging optical system)
4 Second imaging unit (imaging optical system)
35 1st CCD (correction unit)
41, 61 Camera shake detection sensor (camera shake detection means)
42, 62 Position detection sensor (position detection means)
43, 63 Drive circuit (drive means)
55 2nd CCD (correction unit)
70 CPU (control means)
82 Correction limit determination unit (correction limit determination means)
86 Pan / tilt determination unit (pan / tilt determination means)

Claims (14)

An auxiliary Tadashibu you correct the camera shake by moving the hand-shake detection means for detecting a shake, said position detecting means for detecting the position of the correction portion, a plurality of imaging each having a driving means for moving the correcting unit an optical system for each image pickup optical system, the detection result to the Ri particular good moving said correcting unit by the driving means on the basis of optical and image stabilization between said position detecting means and the vibration detection means In compound eye cameras,
When returning each correction unit to a predetermined position determined in advance, to simultaneously start movement from the position of each correction unit based on the detection result of each position detection means and complete movement to the predetermined position simultaneously The target trajectory in which the position, speed, and acceleration are continuous is calculated for each of the correction units, and the movement of the correction units is started simultaneously, and the correction units are moved according to the calculated target trajectory. compound eye camera, characterized in that it comprises control means for controlling the respective drivers to so that. On the basis of the detection results of the position detecting means comprises a compensation limit determining means you determine respectively whether the correction unit reaches the limit of the correcting movement range for each corrector,
2. The control unit according to claim 1, wherein when the correction limit determination unit determines that any one of the correction units has reached the limit, the correction unit returns the correction unit to the predetermined position. Compound eye camera. The correction limit determination means, wherein the correction movement range has shown to area data, on the basis of the detection result of the previous SL-position置検detecting means the area data, for position is the correction of the correction portion 3. The compound eye camera according to claim 2, wherein it is determined whether or not the correction unit has reached the limit by checking whether or not it is inside a moving range . The compound eye camera according to any one of claims 1 to 3, wherein the control unit returns the correction units to the predetermined position when the power is turned on. Pan / tilt determination means for determining whether panning or tilting is performed based on the detection result of each hand movement detection means,
Wherein, when the panning or tilting is determined as the pan-tilt determination unit is carried out, any of claims 1 to 4, characterized in that to return the respective correction unit to the predetermined position A compound eye camera according to claim 1. The pan / tilt determination means performs panning or tilting based on the detection result of each hand movement detection means when a movement having a magnitude equal to or larger than a specified value occurs continuously in a certain direction for a certain time or more. The compound-eye camera according to claim 5, wherein the compound-eye camera is determined. Wherein the predetermined position is a compound eye camera according to any one of claims 1 to 6, characterized in that said an optical center of the imaging optical system. An auxiliary Tadashibu you correct the camera shake by moving the hand-shake detection means for detecting a shake, a position detecting means for detecting a position of the corrector, the corrector plurality of each of the driving means Before moving has an imaging optical system, each imaging optical system, the detection result to the Ri particular good moving said correcting unit by the driving means on the basis of optical and image stabilization of the camera-shake detecting means and said position detecting means In the control method of the compound eye camera,
When returning each correction unit to a predetermined position determined in advance, to simultaneously start movement from the position of each correction unit based on the detection result of each position detection means and complete movement to the predetermined position simultaneously The target trajectory in which the position, velocity, and acceleration are continuous is calculated for each of the correction units, and the movement of the correction units by the driving unit is started simultaneously, and the correction units are each according to the calculated target trajectory. A control method for a compound eye camera, comprising: a return control step for moving each of the camera. On the basis of the detection results of the position detecting means has a compensation limit determination step you determine respectively whether the correction unit reaches the limit of the correcting movement range for each corrector,
9. The method of controlling a compound eye camera according to claim 8 , wherein the return control step is executed when it is determined in the correction limit determination step that any one of the correction units has reached the limit. The correction limit determination step includes area data indicating the correction moving range, and based on a detection result of the position detecting unit and the area data, whether the position of the correction unit is inside the correction moving range. The compound eye camera control method according to claim 9, wherein it is determined whether or not the correction unit has reached the limit by confirming whether or not. The method for controlling a compound eye camera according to any one of claims 8 to 10 , wherein the return control step is executed when the power is turned on. A pan / tilt determination step for determining whether panning or tilting is performed based on a detection result of each hand movement detection means;
The compound eye camera according to any one of claims 8 to 11 , wherein the return control step is executed when the pan / tilt determination step determines that panning or tilting is being performed. Control method. In the pan / tilt determination step, panning or tilting is performed based on the detection result of each camera shake detection unit when a movement having a magnitude equal to or larger than a predetermined value occurs in a certain direction continuously for a certain time or more. The method of controlling a compound eye camera according to claim 12, wherein it is determined that the The method of controlling a compound eye camera according to any one of claims 8 to 13 , wherein the predetermined position is an optical center of the imaging optical system.

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